OpenRaiser/Intern-Atlas huggingface dataset:
Human-Like Autonomous Car-Following Model with Deep Reinforcement Learning
Venue: arXiv cs.LG 2019
Year: 2019

This study proposes a framework for human-like autonomous car-following planning based on deep reinforcement learning (deep RL). Historical driving data are fed into a simulation environment where an RL agent learns from trial and error interactions based on a reward function that signals how much the agent deviates from the empirical data. Through these interactions, an optimal policy, or car-following model that maps in a human-like way from speed, relative speed between a lead and following vehicle, and inter-vehicle spacing to acceleration of a following vehicle is finally obtained. The model can be continuously updated when more data are fed in. Two thousand car-following periods extracted from the 2015 Shanghai Naturalistic Driving Study were used to train the model and compare its performance with that of traditional and recent data-driven car-following models. As shown by this study results, a deep deterministic policy gradient car-following model that uses disparity between simulated and observed speed as the reward function and considers a reaction delay of 1s, denoted as DDPGvRT, can reproduce human-like car-following behavior with higher accuracy than traditional and recent data-driven car-following models. Specifically, the DDPGvRT model has a spacing validation error of 18% and speed validation error of 5%, which are less than those of other models, including the intelligent driver model, models based on locally weighted regression, and conventional neural network-based models. Moreover, the DDPGvRT demonstrates good capability of generalization to various driving situations and can adapt to different drivers by continuously learning. This study demonstrates that reinforcement learning methodology can offer insight into driver behavior and can contribute to the development of human-like autonomous driving algorithms and traffic-flow models.
Throughput Maximization for Ambient Backscatter Communication: A Reinforcement Learning Approach
Venue: arXiv cs.NI 2019
Year: 2019

Ambient backscatter (AB) communication is an emerging wireless communication technology that enables wireless devices (WDs) to communicate without requiring active radio transmission. In an AB communication system, a WD switches between communication and energy harvesting modes. The harvested energy is used to power the devices operations, e.g., circuit power consumption and sensing operation. In this paper, we focus on maximizing the throughput performance of AB communication system by adaptively selecting the operating mode under fading channel environment. We model the problem as an infinite-horizon Markov Decision Process (MDP) and accordingly obtain the optimal mode switching policy by the value iteration algorithm given the channel distributions. Meanwhile, when the knowledge of channel distribution is absent, a Q-learning (QL) method is applied to explore a suboptimal strategy through device repeated interaction with the environment. Finally, our simulations show that the proposed QL method can achieve close-to-optimal throughput performance and significantly outperforms the other than representative benchmark methods.
Adversarial Learning of a Sampler Based on an Unnormalized Distribution
Venue: arXiv cs.LG 2019
Year: 2019

We investigate adversarial learning in the case when only an unnormalized form of the density can be accessed, rather than samples. With insights so garnered, adversarial learning is extended to the case for which one has access to an unnormalized form u(x) of the target density function, but no samples. Further, new concepts in GAN regularization are developed, based on learning from samples or from u(x). The proposed method is compared to alternative approaches, with encouraging results demonstrated across a range of applications, including deep soft Q-learning.
Landscape of Big Medical Data: A Pragmatic Survey on Prioritized Tasks
Venue: arXiv cs.CY 2019
Year: 2019

Big medical data poses great challenges to life scientists, clinicians, computer scientists, and engineers. In this paper, a group of life scientists, clinicians, computer scientists and engineers sit together to discuss several fundamental issues. First, what are the unique characteristics of big medical data different from those of the other domains? Second, what are the prioritized tasks in clinician research and practices utilizing big medical data? And do we have enough publicly available data sets for performing those tasks? Third, do the state-of-the-practice and state-of-the-art algorithms perform good jobs? Fourth, are there any benchmarks for measuring algorithms and systems for big medical data? Fifth, what are the performance gaps of state-of-the-practice and state-of-the-art systems handling big medical data currently or in future? Finally but not least, are we, life scientists, clinicians, computer scientists and engineers, ready for working together? We believe answering the above issues will help define and shape the landscape of big medical data.
Quality Assessment and Improvement of Helm Charts for Kubernetes-Based Cloud Applications
Venue: arXiv cs.DC 2019
Year: 2019

Helm has recently been proposed by practitioners as technology to package and deploy complex software applications on top of Kubernetes-based cloud computing platforms. Despite growing popularity, little is known about the individual so-called Helm Charts and about the emerging ecosystem of charts around the KubeApps Hub website and decentralised charts repositories. This article contributes first quantified insights around both the charts and the artefact development community based on metrics automatically gathered by a proposed quality assessment tool named HelmQA. The work further identifies quality insufficiencies detectable in public charts, proposes a developer-centric hypothesis-based methodology to systematically improve the quality by using HelmQA, and finally empirically attempts to validate the methodology and thus the practical usefulness of the tool by presenting results of its application over a representative four-month period. Although one of our initial hypotheses does not statistically hold during the experiment, we still infer that using HelmQA regularly in continuous software development would lead to reduced quality issues.
Design, Development and Experimental Realization of a Quadrupedal Research Platform: Stoch
Venue: arXiv cs.RO 2019
Year: 2019

In this paper, we present a complete description of the hardware design and control architecture of our custom built quadruped robot, called the `Stoch'. Our goal is to realize a robust, modular, and a reliable quadrupedal platform, using which various locomotion behaviors are explored. This platform enables us to explore different research problems in legged locomotion, which use both traditional and learning based techniques. We discuss the merits and limitations of the platform in terms of exploitation of available behaviours, fast rapid prototyping, reproduction and repair. Towards the end, we will demonstrate trotting, bounding behaviors, and preliminary results in turning. In addition, we will also show various gait transitions i.e., trot-to-turn and trot-to-bound behaviors.
Face Recognition: A Novel Multi-Level Taxonomy based Survey
Venue: arXiv cs.CV 2019
Year: 2019

In a world where security issues have been gaining growing importance, face recognition systems have attracted increasing attention in multiple application areas, ranging from forensics and surveillance to commerce and entertainment. To help understanding the landscape and abstraction levels relevant for face recognition systems, face recognition taxonomies allow a deeper dissection and comparison of the existing solutions. This paper proposes a new, more encompassing and richer multi-level face recognition taxonomy, facilitating the organization and categorization of available and emerging face recognition solutions; this taxonomy may also guide researchers in the development of more efficient face recognition solutions. The proposed multi-level taxonomy considers levels related to the face structure, feature support and feature extraction approach. Following the proposed taxonomy, a comprehensive survey of representative face recognition solutions is presented. The paper concludes with a discussion on current algorithmic and application related challenges which may define future research directions for face recognition.
Improving Suppression to Reduce Disclosure Risk and Enhance Data Utility
Venue: arXiv cs.DB 2019
Year: 2019

In Privacy Preserving Data Publishing, various privacy models have been developed for employing anonymization operations on sensitive individual level datasets, in order to publish the data for public access while preserving the privacy of individuals in the dataset. However, there is always a trade-off between preserving privacy and data utility; the more changes we make on the confidential dataset to reduce disclosure risk, the more information the data loses and the less data utility it preserves. The optimum privacy technique is the one that results in a dataset with minimum disclosure risk and maximum data utility. In this paper, we propose an improved suppression method, which reduces the disclosure risk and enhances the data utility by targeting the highest risk records and keeping other records intact. We have shown the effectiveness of our approach through an experiment on a real-world confidential dataset.
Sparsification of Binary CSPs
Venue: arXiv cs.DS 2019
Year: 2019

A cut $\varepsilon$-sparsifier of a weighted graph $G$ is a re-weighted subgraph of $G$ of (quasi)linear size that preserves the size of all cuts up to a multiplicative factor of $\varepsilon$. Since their introduction by Benczúr and Karger [STOC'96], cut sparsifiers have proved extremely influential and found various applications. Going beyond cut sparsifiers, Filtser and Krauthgamer [SIDMA'17] gave a precise classification of which binary Boolean CSPs are sparsifiable. In this paper, we extend their result to binary CSPs on arbitrary finite domains.
Spectrum Resource Management for Multi-Access Edge Computing in Autonomous Vehicular Networks
Venue: arXiv cs.NI 2019
Year: 2019

In this paper, a dynamic spectrum management framework is proposed to improve spectrum resource utilization in a multi-access edge computing (MEC) in autonomous vehicular network (AVNET). To support the increasing data traffic and guarantee quality-of-service (QoS), spectrum slicing, spectrum allocating, and transmit power controlling are jointly considered. Accordingly, three non-convex network utility maximization problems are formulated to slice spectrum among BSs, allocate spectrum among autonomous vehicles (AVs) associated with a BS, and control transmit powers of BSs, respectively. Via linear programming relaxation and first-order Taylor series approximation, these problems are transformed into tractable forms and then are jointly solved through an alternate concave search (ACS) algorithm. As a result, optimal spectrum slicing ratios among BSs, optimal BS-vehicle association patterns, optimal fractions of spectrum resources allocated to AVs, and optimal transmit powers of BSs are obtained. Based on our simulation, a high aggregate network utility is achieved by the proposed spectrum management scheme compared with two existing schemes.
Towards the Tradeoff Between Service Performance and Information Freshness
Venue: arXiv cs.PF 2019
Year: 2019

The last decade has witnessed an unprecedented growth in the demand for data-driven real-time services. These services are fueled by emerging applications that require rapidly injecting data streams and computing updated analytics results in real-time. In many of such applications, the computing resources are often shared for processing both updates from information sources and queries from end users. This requires joint scheduling of updates and queries because the service provider needs to make a critical decision upon receiving a user query: either it responds immediately with currently available but possibly stale information, or it first processes new updates and then responds with fresher information. Hence, the tradeoff between service performance and information freshness naturally arises in this context. To that end, we propose a simple single-server two-queue model that captures the coupled scheduling of updates and queries and aim to design scheduling policies that can properly address the important tradeoff between performance and freshness. Specifically, we consider the response time as a performance metric and the Age of Information (AoI) as a freshness metric. After demonstrating the limitations of the simplest FCFS policy, we propose two threshold-based policies: the Query-k policy that prioritizes queries and the Update-k policy that prioritizes updates. Then, we rigorously analyze both the response time and the Peak AoI (PAoI) of the threshold-based policies. Further, we propose the Joint-(M,N) policy, which allows flexibly prioritizing updates or queries through choosing different values of two thresholds M and N. Finally, we conduct simulations to evaluate the response time and the PAoI of the proposed policies. The results show that our proposed threshold-based policies can effectively control the balance between performance and freshness.
A First Look at the Crypto-Mining Malware Ecosystem: A Decade of Unrestricted Wealth
Venue: arXiv cs.CR 2019
Year: 2019

Illicit crypto-mining leverages resources stolen from victims to mine cryptocurrencies on behalf of criminals. While recent works have analyzed one side of this threat, i.e.: web-browser cryptojacking, only commercial reports have partially covered binary-based crypto-mining malware. In this paper, we conduct the largest measurement of crypto-mining malware to date, analyzing approximately 4.5 million malware samples (1.2 million malicious miners), over a period of twelve years from 2007 to 2019. Our analysis pipeline applies both static and dynamic analysis to extract information from the samples, such as wallet identifiers and mining pools. Together with OSINT data, this information is used to group samples into campaigns. We then analyze publicly-available payments sent to the wallets from mining-pools as a reward for mining, and estimate profits for the different campaigns. All this together is is done in a fully automated fashion, which enables us to leverage measurement-based findings of illicit crypto-mining at scale. Our profit analysis reveals campaigns with multi-million earnings, associating over 4.4% of Monero with illicit mining. We analyze the infrastructure related with the different campaigns, showing that a high proportion of this ecosystem is supported by underground economies such as Pay-Per-Install services. We also uncover novel techniques that allow criminals to run successful campaigns.
Learning Nonlinear State Space Models with Hamiltonian Sequential Monte Carlo Sampler
Venue: arXiv cs.LG 2019
Year: 2019

State space models (SSM) have been widely applied for the analysis and visualization of large sequential datasets. Sequential Monte Carlo (SMC) is a very popular particle-based method to sample latent states from intractable posteriors. However, SSM is significantly influenced by the choice of the proposal. Recently Hamiltonian Monte Carlo (HMC) sampling has shown success in many practical problems. In this paper, we propose an SMC augmented by HMC (HSMC) for inference and model learning of nonlinear SSM, which can exempt us from learning proposals and reduce the model complexity significantly. Based on the measure preserving property of HMC, the particles directly generated by transition function can approximate the posterior of latent states arbitrarily well. In order to better adapt to the local geometry of latent space, the HMC is conducted on Riemannian manifold defined by a positive definite metric. In addition, we show that the proposed HSMC method can improve SSMs realized by both Gaussian Processes (GP) and Neural Network (NN).
Imminent Collision Mitigation with Reinforcement Learning and Vision
Venue: arXiv cs.LG 2019
Year: 2019

This work examines the role of reinforcement learning in reducing the severity of on-road collisions by controlling velocity and steering in situations in which contact is imminent. We construct a model, given camera images as input, that is capable of learning and predicting the dynamics of obstacles, cars and pedestrians, and train our policy using this model. Two policies that control both braking and steering are compared against a baseline where the only action taken is (conventional) braking in a straight line. The two policies are trained using two distinct reward structures, one where any and all collisions incur a fixed penalty, and a second one where the penalty is calculated based on already established delta-v models of injury severity. The results show that both policies exceed the performance of the baseline, with the policy trained using injury models having the highest performance.
FastFabric: Scaling Hyperledger Fabric to 20,000 Transactions per Second
Venue: arXiv cs.DC 2019
Year: 2019

Blockchain technologies are expected to make a significant impact on a variety of industries. However, one issue holding them back is their limited transaction throughput, especially compared to established solutions such as distributed database systems. In this paper, we re-architect a modern permissioned blockchain system, Hyperledger Fabric, to increase transaction throughput from 3,000 to 20,000 transactions per second. We focus on performance bottlenecks beyond the consensus mechanism, and we propose architectural changes that reduce computation and I/O overhead during transaction ordering and validation to greatly improve throughput. Notably, our optimizations are fully plug-and-play and do not require any interface changes to Hyperledger Fabric.
Arming the public with artificial intelligence to counter social bots
Venue: arXiv cs.CY 2019
Year: 2019

The increased relevance of social media in our daily life has been accompanied by efforts to manipulate online conversations and opinions. Deceptive social bots -- automated or semi-automated accounts designed to impersonate humans -- have been successfully exploited for these kinds of abuse. Researchers have responded by developing AI tools to arm the public in the fight against social bots. Here we review the literature on different types of bots, their impact, and detection methods. We use the case study of Botometer, a popular bot detection tool developed at Indiana University, to illustrate how people interact with AI countermeasures. A user experience survey suggests that bot detection has become an integral part of the social media experience for many users. However, barriers in interpreting the output of AI tools can lead to fundamental misunderstandings. The arms race between machine learning methods to develop sophisticated bots and effective countermeasures makes it necessary to update the training data and features of detection tools. We again use the Botometer case to illustrate both algorithmic and interpretability improvements of bot scores, designed to meet user expectations. We conclude by discussing how future AI developments may affect the fight between malicious bots and the public.
Integrating Sub-6 GHz and Millimeter Wave to Combat Blockage: Delay-Optimal Scheduling
Venue: arXiv cs.IT 2019
Year: 2019

Millimeter wave (mmWave) technologies have the potential to achieve very high data rates, but suffer from intermittent connectivity. In this paper, we provision an architecture to integrate sub-6 GHz and mmWave technologies, where we incorporate the sub-6 GHz interface as a fallback data transfer mechanism to combat blockage and intermittent connectivity of the mmWave communications. To this end, we investigate the problem of scheduling data packets across the mmWave and sub-6 GHz interfaces such that the average delay of system is minimized. This problem can be formulated as Markov Decision Process. We first investigate the problem of discounted delay minimization, and prove that the optimal policy is of the threshold-type, i.e., data packets should always be routed to the mmWave interface as long as the number of packets in the system is smaller than a threshold. Then, we show that the results of the discounted delay problem hold for the average delay problem as well. Through numerical results, we demonstrate that under heavy traffic, integrating sub-6 GHz with mmWave can reduce the average delay by up to 70%. Further, our scheduling policy substantially reduces the delay over the celebrated MaxWeight policy.
Evolution of Physical-Layer Communications Research in the Post-5G Era
Venue: arXiv cs.IT 2019
Year: 2019

The evolving Fifth Generation New Radio (5G-NR) cellular standardization efforts at the Third Generation Partnership Project (3GPP) brings into focus a number of questions on relevant research problems in physical-layer communications for study by both academia and industry. To address this question, we show that the peak download data rates for both WiFi and cellular systems have been scaling exponentially with time over the last twenty five years. While keeping up with the historic cellular trends will be possible in the near-term with a modest bandwidth and hardware complexity expansion, even a reasonable stretching of this road-map into the far future would require significant bandwidth accretion, perhaps possible at the millimeter wave, sub-millimeter wave, or Terahertz (THz) regimes. The consequent increase in focus on systems at higher carrier frequencies necessitates a paradigm shift from the reuse of over-simplified (yet mathematically elegant) models, often inherited from sub-6 GHz systems, to a more holistic view where real measurements guide, motivate and refine the building of relevant but possibly complicated models, solution space(s), and good solutions. To motivate the need for this shift, we illustrate how the traditional abstraction fails to correctly estimate the delay spread of millimeter wave wireless channels and hand blockage losses at higher carrier frequencies. We conclude this paper with a broad set of implications for future research prospects at the physical-layer including key use-cases, possible research policy initiatives, and structural changes needed in telecommunications departments at universities.
Near-Optimal Lower Bounds on the Threshold Degree and Sign-Rank of AC^0
Venue: arXiv cs.CC 2019
Year: 2019

The threshold degree of a Boolean function $f\colon\{0,1\}^n\to\{0,1\}$ is the minimum degree of a real polynomial $p$ that represents $f$ in sign: $\mathrm{sgn}\; p(x)=(-1)^{f(x)}.$ A related notion is sign-rank, defined for a Boolean matrix $F=[F_{ij}]$ as the minimum rank of a real matrix $M$ with $\mathrm{sgn}\; M_{ij}=(-1)^{F_{ij}}$. Determining the maximum threshold degree and sign-rank achievable by constant-depth circuits ($\text{AC}^{0}$) is a well-known and extensively studied open problem, with complexity-theoretic and algorithmic applications. We give an essentially optimal solution to this problem. For any $ε>0,$ we construct an $\text{AC}^{0}$ circuit in $n$ variables that has threshold degree $Ω(n^{1-ε})$ and sign-rank $\exp(Ω(n^{1-ε})),$ improving on the previous best lower bounds of $Ω(\sqrt{n})$ and $\exp(\tildeΩ(\sqrt{n}))$, respectively. Our results subsume all previous lower bounds on the threshold degree and sign-rank of $\text{AC}^{0}$ circuits of any given depth, with a strict improvement starting at depth $4$. As a corollary, we also obtain near-optimal bounds on the discrepancy, threshold weight, and threshold density of $\text{AC}^{0}$, strictly subsuming previous work on these quantities. Our work gives some of the strongest lower bounds to date on the communication complexity of $\text{AC}^{0}$.